Forward state-space planning framework based on timelines

摘要

An on-line forward state-space planning system and method adds actions in the form of tokens, at fixed wall clock times, to partial plans representing a potential final plan. The adding of the actions is repeated until a final sequence of actions satisfies a defined goal, wherein during the planning process all actions in the partial plans and the tokens introduced by the actions are constrained to happen at the fixed wall-clock times.